Embedded Systems - Embodied Agents, Digital Control in a Physical World (Q3+4) (10 ECTS) Objectives of the course The participants will after the course have a basis for understanding embedded systems, especially robots, and practical experience with physical construction and programming of embedded systems, especially robots

Lectures (2 h/week), lab sessions (3 h/week) Lectures Time: Thurdays at 12.15-14.00, Location: Store Aud, it-Huset Lab Sessions Location: Zuse, Åbogade 40. Class A: Time: Thurdays at 14.15-17 Class B: Time: Fridays at 10.15-13 Course homepage https://bb.au.dk/webapps/portal/frameset.jsp?tab_tab_group_id=_2_1&url=%2Fwebapps%2Fblackboard%2Fexecute%2Flauncher%3Ftype%3DCourse%26id%3D_33635_1%26url%3D

LEGOLab

Assessment methods: Lab notebooks and oral exam 7-scale, internal examiner A lab notebook from each labsession is handed in each week (before the next week's labsession) in order to fulfill the compulsory programme of the course. At the end of the course each group do an end course project. Your grade for the course will be based on selected lab notebooks, your lab notebook for the end course project and the oral presentation at the end of the course.

In the lab sessions you will work in groups of 4. After each lab session the group should hand in a labnotebook. During the first two lab sessions each group should enrool as groups on the course webpage. To perform the activities in the lab sessions each group need LEGO Mindstorms Material. The material can be borrowed during the course. At the first two lab sessions material will be available for handout.

# 9797 LEGO Mindstorms Education NXT Base Set. # UB22S USB Bluetooth Dongle # 9833 LEGO Mindstorms transformer

An embedded system is a special-purpose computer system designed to perform one or a few dedicated functions.

Fred Martin, Chapter 5

bend sensor

wall

floor

HandyBug

two wheels driven by two independent motors

right

left

forward

bend sensor value: high value - close to wall low value - away from wall

Wall

goal

right

left

forward

Close to wall

Away from wall

wall

inner

outer

r reference value e error C controller u output from controller to control P P plant, controlled system y state of P F feedback to controller

LEGO® MINDSTORMS™ NXT

R2MeeToo

1

2

3

Lab session projects

PID controller

Plan for Q3 Week 5 + 6 Introduction and installation of leJOS Week 7 to 10 Lectures and lab sessions Week 11 Lecture and graded lab session